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EP0396758A1 - Actuateur de robot industriel a action directe - Google Patents

Actuateur de robot industriel a action directe Download PDF

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Publication number
EP0396758A1
EP0396758A1 EP89908520A EP89908520A EP0396758A1 EP 0396758 A1 EP0396758 A1 EP 0396758A1 EP 89908520 A EP89908520 A EP 89908520A EP 89908520 A EP89908520 A EP 89908520A EP 0396758 A1 EP0396758 A1 EP 0396758A1
Authority
EP
European Patent Office
Prior art keywords
feed screw
plate member
direct
passage
acting actuator
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP89908520A
Other languages
German (de)
English (en)
Other versions
EP0396758A4 (en
EP0396758B1 (fr
Inventor
Nobutoshi Torii
Susumu Room 7-204 Fanuc Manshonharimomi Ito
Masayuki Room 8-103 Fanuc Manshonharimomi Hamura
Akira Fanuc Dai-3 Vira-Karamatsu Tanaka
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Fanuc Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Publication of EP0396758A1 publication Critical patent/EP0396758A1/fr
Publication of EP0396758A4 publication Critical patent/EP0396758A4/en
Application granted granted Critical
Publication of EP0396758B1 publication Critical patent/EP0396758B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T403/00—Joints and connections
    • Y10T403/32—Articulated members
    • Y10T403/32114—Articulated members including static joint
    • Y10T403/32131—One member is plate or side
    • Y10T403/32155—Bearing component clamped to plate or side, e.g., bolted, etc.
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/18—Mechanical movements
    • Y10T74/18568—Reciprocating or oscillating to or from alternating rotary
    • Y10T74/18576—Reciprocating or oscillating to or from alternating rotary including screw and nut
    • Y10T74/18648—Carriage surrounding, guided by, and primarily supported by member other than screw [e.g., linear guide, etc.]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20317—Robotic arm including electric motor

Definitions

  • the present invention relates to an industrial robot, and more particularly, to a direct-acting actuator in which an elongate feed screw can be attached or detached quickly and safely in a narrow working space.
  • Various industrial robots are conventionally known, which comprises a direct-acting or translational actuator.
  • a cylindrical coordinate robot has one swivel or pivotal axis and two translational axes, while a cartesian coordinate robot has three translational axes.
  • a conventional direct-acting actuator which has a feed screw extending parallel to the translational axes, is so arranged that the feed screw is attached to or detached from the actuator by causing the feed screw to be axially inserted thereinto or axially disengaged therefrom, at the time of assembly, parts replacement, and maintenance of the robot.
  • the assembly of the robot having the elongate feed screw and other work require a wide working space and labor, and the operation involves a risk due to the weightiness of the elongate feed screw.
  • the object of the present invention is to provide a direct-acting actuator for an industrial robot, in which an elongate feed screw can be attached or detached quickly and safely even in a narrow working space, at the time of assembly, parts replacement, and maintenance of the robot.
  • a direct-acting actuator for an industrial robot comprises a feed screw unit including a feed screw disposed parallel to a translational axis of the industrial robot, a drive unit removably coupled to one end of the feed screw for rotatively driving the feed screw, a slider arranged to be movable along the feed screw with rotation of the feed screw, and a column including a plate member for rotatably supporting another end of the feed screw, the plate member being disposed traversely of the feed screw at an end portion of the direct-acting actuator on the side remote from the drive unit, and being formed with a passage extending therethrough and opening in one end face of the plate member and with a hole extending through the plate member and communicating with the passage, another end of the feed screw being removably fitted in the hole through the passage.
  • the one end of the feed screw is removably coupled to the drive unit, and the other end of the feed screw is removably fitted in the hole of the plate member through the passage, which is formed in the plate member disposed traversely of the feed screw, and which opens in the one end face of the plate member.
  • the feed screw can be attached or detached quickly and safely even in a narrow working space, at the time of assembly, parts replacement, and maintenance of the robot.
  • a cylindrical coordinate robot of Fig. 3 comprises a first direct-acting actuator 120 which is mounted on a base for rotation around the swivel axis of the robot, and which includes an elongate feed screw 122 rotatably j supported by top and bottom walls of a column 121 and removable in the axial direction or upward.
  • the robot is so arranged as to control the swivel position of the first actuator 120, the vertical moved position of a second direct-acting actuator 130, which includes a slider 131 threadedly engaged with the feed screw 122 and movable along the feed screw, and the horizontal operative position of the actuator 132, thereby positioning an end effector 133 mounted on the distal end of an arm 132, for a required operation.
  • a cartesian coordinate robot of Fig. 4 comprises a first direct-acting actuator 210 including an elongate feed screw 212 which is rotatably supported by a column 211 and attached to the column 211 in a manner axially removable, i.e., removable toward one side in the horizontal direction.
  • the robot operates to control the horizontal moved position of a second actuator 220 on the feed screw 212, the vertical moved position of a third direct-acting actuator 230 on a feed screw (not shown) of the second actuator 220, and the horizontal operative position of an arm 231, to thereby positioning an end effector.
  • the elongate feed screws 122 and 212 are inserted into the columns 121 and 211, respectively, from above the robot or from the one side in the horizontal direction.
  • the feed screws are drawn out upward or in the horizontal direction. Accordingly, a wide working space and labor are required, and the operation involves a risk.
  • Fig. 1 shows a direct-acting actuator according to one embodiment of the present invention.
  • This actuator which is mounted on, e.g., a cylindrical coordinate robot, is so arranged as to reciprocate a slider 30, which supports an arm 40 having an end effector (not shown) mounted on the distal end thereof, along a feed screw 21 of a feed screw unit 20 supported by a column 10.
  • the column 10 has a pair of end walls 11 extending parallel to a translational axis 100 of a robot coordinate system and are spaced from each other.
  • the upper and lower ends of each end wall 11 are fixed to a top plate 12 and a base plate 13, respectively.
  • each end wall 11 is formed of channel steel, and top and base plates 12 and 13 are each formed of a steel plate. These elements 11 to 13 are welded to one another at their junctions, so that the column 10 is solid as a whole. As is best shown in Fig.
  • a hole 12a and a passage 12b are formed in that side edge portion of the top plate 12 of the column 10 on the side thereof facing the slider 30 in a manner extending through the top plate 12 in the thickness direction, and the hole 12a is in alignment with the translational axis 100.
  • the outer end of the passage 12b opens in an end face 12c of the top plate 12 on the side thereof facing the slider 30, while the inner end thereof is communicated with the hole 12a.
  • a servomotor 51 is fixed to the upper surface of the base plate 13, and its output shaft (not shown) is connected to the input side of a reduction gear 52 fixed to the base plate 13.
  • the servomotor 51 cooperates with the reduction gear 52 to constitute a drive unit 50 for the translational axis 100.
  • the reduction gear 52 is disposed so that its output-side junction 52a is in alignment with the translational axis 100.
  • the servomotor 51 is connected to a control device (not shown) for controlling the drive of various operating sections of the robot.
  • the feed screw unit 20 includes a feed screw preferably formed of a ball screw 21.
  • a bearing unit 22, which supports the ball screw 21 in a manner permitting relative rotation and preventing relative axial movement, is attached to the upper end of the ball screw 21, and has a body portion 22a thereof adapted to be removably fitted in the hole 12a of the top plate 12.
  • the ball screw 21 is permitted to pass through the passage 12b of the top plate 12, that is, the width of the passage 12b is a little greater than the diameter of the ball screw 21.
  • a junction 23 is formed on the lower end of the ball screw 21 for rotation in unison with the ball screw 21.
  • junction 23 is so arranged to be coupled to the junction 52a of the reduction gear 52 in a manner rotatable in unison therewith and removable in the axial direction.
  • junctions 23 and 52a are adapted to be spline-connected.
  • the slider 30 includes a body portion 31 which is integrally formed at opposite sides of a lower portion of the slider body with a pair of guide members 32 projecting outwardly. These two guide members 32 are respectively engaged with a pair of guide rails 14 for sliding motion thereon, which rails are respectively fixed to the end faces of the paired end walls 11 of the column 10 on the side thereof facing the slider 30. Further, a plate member 33 projecting toward the ball screw 21 and extending across the ball screw 21 is integrally formed with the slider body 31 at a lower part of the same.
  • a thread to mate with the ball screw 21 is formed on the inner peripheral surface of the ball nut 34.
  • a support member 35 for supporting the proximal end portion of the arm 40, which member protrudes in the direction away from the ball screw, so that the arm 40 is rotatable within a horizontal plane and around a swivel axis which passes through the support member 35 and extends parallel to the translational axis 100.
  • Numeral 36 denotes a servomotor which corresponds to the swivel axis.
  • the servomotor 51 and the reduction gear 52 are disposed on the base plate 13 of the column 10.
  • the guide members 32 are fitted individually on the guide rails 14 so that the slider 30 is mounted on the column 10.
  • the ball nut 34 is threadedly engaged with the ball screw 21 so that the bearing unit 22 is fitted on the upper end of the ball screw 21.
  • the lower end portion of the ball screw 21 is diagonally inserted into the inside space of the column 10, and the ball screw 21 is then set upright so that the lower end portion of the ball screw 21 is fitted in the hole 33a through the passage 33b of the plate member 33 of the slider 30, and that the upper end portion of the ball screw 21 is fitted in the hole 12a through the passage 12b of the top plate 12 of the column 10.
  • the servomotor 52 responds to a control output from the control device of the robot to rotate in a rotational direction corresponding to the control output.
  • the motor rotating force is transmitted to the ball screw 21 through the reduction gear 52, thereby rotating the ball screw, so that the ball nut 34 in engagement with the ball screw and the slider 30 integral therewith are guided along the ball screw 21 by the guide rails 14, to ascend or descend smoothly for a required distance, thereby locating the arm 40 in a required vertical position.
  • a description of the operation of the other operating parts of the robot, such as the servomotor 36, is omitted herein.
  • the present invention is not limited to the embodiment described above, and various modifications may be effected therein.
  • the present invention has been described as being applied to a cylindrical coordinate robot which has a translational axis extending vertically of the robot.
  • the present invention may be applied to robots of various types which have one or more translational axes extending in the vertical or horizontal direction.
  • the feed screw is attached to or detached from the column through the slider-side open lateral face of the column.
  • a feed screw passage may be formed in a manner opening in that lateral face of the column on the side thereof remote from the slider or opening in the end-wall-side lateral face thereof, so that the feed screw can be attached or detached on the side of the face in which the passage is formed.
  • a feed screw passage is preferably formed in a manner opening in the top face of the column so that the feed screw can be attached or detached on the top- face side of the column.
  • the feed screw may be attached or detached on the sides of any other faces.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Transmission Devices (AREA)

Abstract

Actuateur de robot industriel à action directe, pouvant monter et démonter une longue vis-mère rapidement et de manière fiable dans un espace de travail limité. Lorsqu'on doit installer une vis à rotule, les extrémités supérieure et inférieure de la vis à rotule introduite en diagonale dans l'espace interne d'une colonne (10) sont montées dans des trous (12a, 33a) d'une plaque supérieure et d'un organe en feuille à travers un passage (12b) formé sur une plaque supérieure (12) de colonne et débouchant sur la surface d'extrémité de ladite plaque supérieure du côté du coulisseau, et à travers un passage (33b) formé sur l'organe en feuille (33) d'un coulisseau (30) et débouchant au niveau de la surface de la pointe de l'organe en feuille, respectivement. L'extrémité inférieure de la vis à rotule est reliée à un décélérateur (52), et une unité de palier (22) montée sur l'extrémité supérieure de la vis à rotule et l'écrou (34) vissé sur la vis à rotule sont introduits dans les trous (12a, 33a), respectivement. L'unité de palier et l'écrou sont ensuite fixés sur la plaque supérieure et sur l'organe en feuille, respectivement. On peut démonter la vis à rotule en suivant une procédure inverse.
EP89908520A 1988-08-11 1989-07-24 Actuateur de robot industriel a action directe Expired - Lifetime EP0396758B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP63198821A JP2537386B2 (ja) 1988-08-11 1988-08-11 産業用ロボットの直動軸構造
JP198821/88 1988-08-11
PCT/JP1989/000740 WO1990001402A1 (fr) 1988-08-11 1989-07-24 Actuateur de robot industriel a action directe

Publications (3)

Publication Number Publication Date
EP0396758A1 true EP0396758A1 (fr) 1990-11-14
EP0396758A4 EP0396758A4 (en) 1991-05-15
EP0396758B1 EP0396758B1 (fr) 1994-09-07

Family

ID=16397473

Family Applications (1)

Application Number Title Priority Date Filing Date
EP89908520A Expired - Lifetime EP0396758B1 (fr) 1988-08-11 1989-07-24 Actuateur de robot industriel a action directe

Country Status (6)

Country Link
US (1) US5099707A (fr)
EP (1) EP0396758B1 (fr)
JP (1) JP2537386B2 (fr)
KR (1) KR900701481A (fr)
DE (1) DE68918082T2 (fr)
WO (1) WO1990001402A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018120605A1 (fr) * 2016-12-31 2018-07-05 广东恒聚医疗科技有限公司 Robot pour radiothérapie

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US5423614A (en) * 1992-06-26 1995-06-13 Vooner Vacuum Pumps, Inc. Self aligning removable bearing carrier for a liquid ring vacuum pump
JP2558080B2 (ja) * 1994-11-02 1996-11-27 株式会社奈和精機製作所 搬送装置
US6121743A (en) * 1996-03-22 2000-09-19 Genmark Automation, Inc. Dual robotic arm end effectors having independent yaw motion
US5789890A (en) * 1996-03-22 1998-08-04 Genmark Automation Robot having multiple degrees of freedom
US5653571A (en) * 1996-04-23 1997-08-05 Trantek Incorporated Vertical lift for a robot
JPH1154588A (ja) * 1997-07-30 1999-02-26 Tokyo Electron Ltd 基板搬送装置およびそれを用いた基板処理装置
JP2000042953A (ja) * 1998-07-29 2000-02-15 Janome Sewing Mach Co Ltd 水平多関節ロボット
US6489741B1 (en) 1998-08-25 2002-12-03 Genmark Automation, Inc. Robot motion compensation system
JP2000088071A (ja) * 1998-09-18 2000-03-28 Smc Corp 電動アクチュエータ
DE10058123A1 (de) * 2000-11-22 2002-05-23 Wella Ag Deckenstativeinheit
US20060207359A1 (en) * 2004-05-28 2006-09-21 Keith Kowalski Compact linear/rotary actuator for offset actuation
JP2010064158A (ja) * 2008-09-08 2010-03-25 Yamazaki Mazak Corp 加工装置
US20100077877A1 (en) * 2008-09-26 2010-04-01 Ming-Hung Hsieh Rotary micro-adjustment mechanism for a synchronous double-drive positioning platform
US9500049B1 (en) * 2008-12-11 2016-11-22 Schlumberger Technology Corporation Grip and vertical stab apparatus and method
CN102101291B (zh) * 2009-12-22 2013-12-11 鸿富锦精密工业（深圳）有限公司 机械手臂
JPWO2012025948A1 (ja) * 2010-08-23 2013-10-28 トヨタ自動車株式会社 直動機構及びロボット
EP3317553B1 (fr) 2015-06-30 2023-05-10 Saint-Gobain Performance Plastics Corporation Palier lisse
ITUA20162490A1 (it) 2016-04-11 2017-10-11 Fondazione St Italiano Tecnologia Attuatore per esoscheletro
JP1607841S (fr) * 2017-07-12 2019-12-23
JP1605285S (fr) * 2017-07-18 2019-11-25
JP1605288S (fr) * 2017-07-18 2019-11-25
JP1605287S (fr) * 2017-07-18 2019-11-25
JP1605289S (fr) * 2017-07-18 2019-11-25
JP1605286S (fr) * 2017-07-18 2019-11-25
CN207534805U (zh) * 2017-12-12 2018-06-26 慧灵科技（深圳）有限公司 一种高性能水平关节四轴机器人
JP1615135S (fr) * 2018-03-29 2020-03-30
JP1615134S (fr) * 2018-03-29 2020-03-30
JP1615136S (fr) * 2018-03-29 2020-03-30
JP1615133S (fr) * 2018-03-29 2020-03-30
JP1623232S (fr) * 2018-04-18 2020-07-13
JP1623231S (fr) * 2018-04-18 2020-07-13
CN109434869B (zh) * 2018-12-14 2021-08-17 上海交通大学 一种圆柱副形式的主动驱动关节

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018120605A1 (fr) * 2016-12-31 2018-07-05 广东恒聚医疗科技有限公司 Robot pour radiothérapie

Also Published As

Publication number Publication date
JP2537386B2 (ja) 1996-09-25
WO1990001402A1 (fr) 1990-02-22
EP0396758A4 (en) 1991-05-15
US5099707A (en) 1992-03-31
EP0396758B1 (fr) 1994-09-07
DE68918082D1 (de) 1994-10-13
JPH0253580A (ja) 1990-02-22
DE68918082T2 (de) 1995-01-05
KR900701481A (ko) 1990-12-03

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